Resonant frequency measurement system, method and device and electronic equipment

Abstract

The invention provides a resonant frequency measuring system, method and device and electronic equipment, and is applied to the technical field of electromechanics, the resonant frequency measuring system comprises a movement mechanism, a bearing mechanism, a sensor, a cable and a resonant frequency measuring instrument, and the movement mechanism comprises a motor and a mechanical assembly. The resonant frequency measuring instrument is used for applying a plurality of excitation signals with different frequencies to the motor, and the excitation signals are used for exciting the motor to drive the mechanical assembly to move within a preset movement range. The resonant frequency measuring instrument is also used for monitoring a response signal of the mechanical assembly based on each excitation signal of the plurality of excitation signals in each motion point location in a preset motion range through the sensor. And determining the resonant frequency of the motion mechanism at each motion point based on the plurality of excitation signals and the response signals of each motion point corresponding to the plurality of excitation signals. The resonant frequency measurement system improves the accuracy of resonant frequency measurement.

Description

Technical Field

[0001] The present application relates to the field of electromechanical technology, and in particular to a resonant frequency measurement system, method, device and electronic equipment. Background Art

[0002] The motion mechanism is the execution structure for accurate detection. When working, it rotates the load to different angles according to the instructions to search and track the target. The motion stability of the motion mechanism directly determines the detection accuracy. If the rigidity of the motion mechanism is insufficient during assembly, it will cause self-excitation under vibration conditions, resulting in a decrease in the performance of the motion mechanism, thus affecting the detection accuracy. Therefore, it is necessary to measure the resonant frequency of the motion mechanism to detect the problem of insufficient assembly rigidity in advance.

[0003] When measuring the resonant frequency of a motion mechanism, the power to the motor and angle sensor is usually turned off. This means that the entire system is tested as a purely mechanical component. However, the motor and sensor components have a significant impact on the dynamic performance of the entire system during operation. Therefore, testing the mechanical part alone is not enough to identify all potential resonant frequency problems, so the accuracy of existing resonant frequency measurements is low. Summary of the invention

[0004] Embodiments of the present application provide a resonance frequency measurement system, method, device, and electronic device to solve the problem of low accuracy in existing resonance frequency measurement.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a resonant frequency measurement system, the resonant frequency measurement system comprising a motion mechanism, a bearing mechanism, a sensor, a cable and a resonant frequency measuring instrument, the motion mechanism comprising a motor and a mechanical component, the motion mechanism being fixed on the bearing mechanism, the sensor being fixed on the motion mechanism, and the sensor being connected to the resonant frequency measuring instrument via the cable;

[0007] The resonant frequency measuring instrument is used to apply multiple excitation signals of different frequencies to the motor, and the excitation signals are used to excite the motor to drive the mechanical component to move within a preset motion range. The resonant frequency measuring instrument is also used to monitor the response signal of the mechanical component at each motion point within the preset motion range based on each excitation signal of the multiple excitation signals through the sensor, and determine the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the each motion point respectively corresponding to the multiple excitation signals.

[0008] In a second aspect, an embodiment of the present application further provides a method for measuring a resonance frequency, the method comprising:

[0009] Applying a plurality of excitation signals of different frequencies to the motor of the motion mechanism, wherein the excitation signals are used to excite the motor to drive the mechanical components of the motion mechanism to move within a preset motion range;

[0010] Monitoring a response signal of the mechanical component at each motion point within the preset motion range based on each of the multiple excitation signals;

[0011] Based on the multiple excitation signals and the response signals of the various motion points respectively corresponding to the multiple excitation signals, the resonant frequencies of the motion mechanism at the various motion points are determined.

[0012] Optionally, determining the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals includes:

[0013] Based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals, a response curve of the motion mechanism at each motion point is obtained;

[0014] The peak value of the response curve of the motion mechanism at each motion point is determined as the resonant frequency of the motion mechanism at each motion point.

[0015] Optionally, obtaining a response curve of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals includes:

[0016] Respectively calculating the ratios of the response signals of the respective motion points corresponding to the multiple excitation signals to the multiple excitation signals;

[0017] The response curves of the motion mechanism at each motion point are obtained by performing Fourier transform on the ratios of the response signals at each motion point corresponding to the multiple excitation signals and the multiple excitation signals.

[0018] Optionally, before applying a plurality of excitation signals of different frequencies to the motor of the motion mechanism, the method further comprises:

[0019] The preset motion range of the motion mechanism is determined according to at least one of the following parameters of the motion mechanism:

[0020] Maximum rotation angle, maximum speed, acceleration.

[0021] In a third aspect, an embodiment of the present application further provides a resonant frequency measurement device, the resonant frequency measurement device comprising:

[0022] A first processing module, used for applying a plurality of excitation signals of different frequencies to the motor of the motion mechanism, wherein the excitation signals are used for exciting the motor to drive the mechanical components of the motion mechanism to move within a preset motion range;

[0023] A first monitoring module, configured to monitor a response signal of the mechanical component at each motion point within the preset motion range based on each of the multiple excitation signals;

[0024] The first determination module is used to determine the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals.

[0025] In a fourth aspect, an embodiment of the present application further provides a resonant frequency measurement device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the above-mentioned resonant frequency measurement method when executed by the processor.

[0026] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned resonant frequency measurement method are implemented.

[0027] In a sixth aspect, a computer program product is provided, comprising computer instructions, which, when executed by a processor, implement the steps of the above-mentioned resonant frequency measurement method.

[0028] The resonant frequency measurement system of the embodiment of the present application includes a motion mechanism, a bearing mechanism, a sensor, a cable and a resonant frequency meter, wherein the motion mechanism includes a motor and a mechanical component, the motion mechanism is fixed on the bearing mechanism, the sensor is fixed on the motion mechanism, and the sensor is connected to the resonant frequency meter through the cable; the resonant frequency meter is used to apply multiple excitation signals of different frequencies to the motor, the excitation signal is used to excite the motor to drive the mechanical component to move within a preset range of motion, and the resonant frequency meter is also used to monitor the response signal of each motion point of the mechanical component based on each excitation signal of the multiple excitation signals within the preset range of motion through the sensor, and determine the resonant frequency of the motion mechanism at each motion point based on the response signal of each motion point corresponding to the multiple excitation signals and the multiple excitation signals. When measuring the resonant frequency, the resonant frequency measurement system includes the motor in the call so that it performs frequency excitation on the motion mechanism under the actual working state (i.e., the power-on state). Through the active participation of the motor, the response of the integrated motion mechanism under electromechanical coupling can be captured, thereby identifying all potential resonant frequency problems of the motion mechanism, thereby improving the accuracy of the resonant frequency measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0030] Figure 1 is a schematic diagram of a resonant frequency measurement system provided in an embodiment of the present application;

[0031] Figure 2 is a flow chart of a resonant frequency measurement method provided in an embodiment of the present application;

[0032] Figure 3 is a structural diagram of a resonant frequency measurement device provided in one embodiment of the present application;

[0033] Figure 4 It is a structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] The present application embodiment provides a resonant frequency measurement system, see Figure 1 , Figure 1 is a schematic diagram of a resonant frequency measurement system provided in an embodiment of the present application, wherein the resonant frequency measurement system comprises a motion mechanism 1, a bearing mechanism 2, a sensor 3, a cable 4 and a resonant frequency measuring instrument 5, wherein the motion mechanism 1 comprises a motor and a mechanical component (not specifically shown in the figure), the motion mechanism 1 is fixed on the bearing mechanism 2, the sensor 3 is fixed on the motion mechanism 1, and the sensor 3 is connected to the resonant frequency measuring instrument 5 via the cable 4;

[0036] The resonant frequency measuring instrument 5 is used to apply multiple excitation signals of different frequencies to the motor, and the excitation signals are used to excite the motor to drive the mechanical component to move within a preset motion range. The resonant frequency measuring instrument 5 is also used to monitor the response signal of the mechanical component at each motion point within the preset motion range based on each excitation signal of the multiple excitation signals through the sensor 3, and determine the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the each motion point corresponding to the multiple excitation signals.

[0037] In one embodiment, the resonant frequency measurement system of the present application includes a motion mechanism 1, a supporting mechanism 2, a sensor 3, a cable 4 and a resonant frequency meter 5, and the motion mechanism 1 is fixed on the supporting mechanism 2, so as to ensure that the motion mechanism will not move or tilt during the measurement process, and its true dynamic characteristics can be accurately measured. Because the physical vibration test needs to eliminate the influence of other external unstable factors, any observed vibration characteristics come from the motion mechanism itself, rather than being introduced due to reasons such as unstable base. A sensor 3 is provided on the motion mechanism 1, and the sensor 3 is used to sense the response signal of the motion mechanism when it moves, and send the response signal to the resonant frequency meter 5 through the cable 4.

[0038] The resonant frequency meter 5 is an instrument for detecting and analyzing the resonant characteristics of mechanical or electrical systems. Its main function is to identify at what frequency the motion mechanism will resonate (i.e. the system response is the largest and the vibration is the most significant). The resonant frequency meter 5 applies multiple excitation signals of different frequencies to the motor of the motion mechanism 1. These multiple excitation signals of different frequencies are used to drive the motor so that it drives the entire mechanical assembly of the motion mechanism to operate within a preset range of motion. This "sweep frequency" method can comprehensively detect the impact of each frequency on the motion mechanism.

[0039] The resonant frequency measuring instrument 5 monitors the response of the mechanical component to each excitation signal through the sensor 3. In this process, the sensor 3 collects the vibration or displacement data of each moving point of the mechanical component within the preset motion range. Each moving point refers to the specific position of the mechanical component on the preset motion range, and these moving points need to be tested separately to obtain detailed frequency response information. Then the resonant frequency measuring instrument 5 combines and analyzes the excitation signal and the response signal of each moving point corresponding to the excitation signal to identify the resonant frequency that may exist in the motion mechanism at different motion points. Specifically, the response signal collected from each moving point within the motion range can be divided by the excitation signal and the excitation signal and then Fourier transformed to obtain the response curve of each moving point. The peak position on the response curve is the resonant frequency of the motion mechanism at each moving point.

[0040] In this embodiment, when measuring the resonant frequency, the motor is called to perform frequency excitation on the motion mechanism in the actual working state (i.e., the power-on state). Through the active participation of the motor, the response of the integrated motion mechanism under electromechanical coupling can be captured, thereby identifying all potential resonant frequency problems of the motion mechanism, thereby improving the accuracy of the resonant frequency measurement.

[0041] The present application embodiment provides a method for measuring a resonance frequency. Figure 2 , Figure 2 is a flow chart of the resonant frequency measurement method provided in an embodiment of the present application, such as Figure 2 As shown, the following steps are included:

[0042] Step 201: applying a plurality of excitation signals of different frequencies to a motor of a motion mechanism, wherein the excitation signals are used to excite the motor to drive a mechanical component of the motion mechanism to move within a preset motion range;

[0043] In this step, the resonant frequency meter applies multiple excitation signals of different frequencies to the motor of the motion mechanism. As the driving element of the motion mechanism, the motor drives the mechanical components of the motion mechanism to move through the received excitation signals. By stimulating the motor to push the mechanical components, the motion of the motion mechanism under real operating conditions is simulated. This method ensures that the feedback data obtained matches the corresponding results in the actual working environment. Pre-setting the range of motion ensures the safety and effectiveness of the test.

[0044] Step 202: monitoring the response signal of the mechanical component at each motion point within the preset motion range based on each of the multiple excitation signals;

[0045] In this step, the motion point refers to each motion position of the mechanical component within the preset motion range. The resonant frequency meter records the response of the mechanical component at each motion position driven by the motor.

[0046] Step 203: Determine the resonant frequency of the motion mechanism at each of the motion points based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals.

[0047] In this step, specifically, the resonant frequency measuring instrument can divide the response signal and the excitation signal collected at each moving point within the moving range and perform Fourier transform to obtain the response curve of each moving point. The peak position on the response curve is the resonant frequency of the moving mechanism at each moving point.

[0048] In one embodiment, a resonant frequency measuring instrument applies multiple excitation signals of different frequencies to a motor of a motion mechanism, wherein the excitation signals are used to excite the motor to drive a mechanical component of the motion mechanism to move within a preset motion range; monitors response signals of the mechanical component at each motion point within the preset motion range based on each excitation signal in the multiple excitation signals; and determines the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals.

[0049] In this embodiment, when measuring the resonant frequency, the motor is called to perform frequency excitation on the motion mechanism in the actual working state (i.e., the power-on state). Through the active participation of the motor, the response of the integrated motion mechanism under electromechanical coupling can be captured, thereby identifying all potential resonant frequency problems of the motion mechanism, thereby improving the accuracy of the resonant frequency measurement.

[0050] Optionally, determining the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals includes:

[0051] Based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals, a response curve of the motion mechanism at each motion point is obtained;

[0052] The peak value of the response curve of the motion mechanism at each motion point is determined as the resonant frequency of the motion mechanism at each motion point.

[0053] In one embodiment, multiple excitation signals are used, and these multiple excitation signals are applied to the motion mechanism at different frequencies, thereby inducing the response of the mechanical components of the motion mechanism at different motion points within a preset motion range. The resonant frequency measuring instrument measures and records the mechanical response caused by each excitation signal at each motion point. The data generated by this process is the "response signal". According to the collected response signal, the response curve of the motion mechanism at each motion point is drawn. These curves are usually expressed as the change of the output response (such as vibration amplitude, acceleration, etc.) relative to the input excitation frequency. The response curve can be directly formed by imaging the obtained data, for example, by obtaining the frequency domain performance from the time domain signal through Fourier transform. Analyze each response curve, the important feature of which is the "peak" - that is, the place where the maximum vibration amplitude or reaction intensity is reached on the curve. The peak position indicates that the motion mechanism enters a resonant state at a certain frequency, so this frequency is called the "resonance frequency" of the point. Through this embodiment, it is possible to identify which specific frequency will trigger the maximum vibration of the motion mechanism, thereby avoiding resonance phenomena that may endanger the function or safety of the motion mechanism.

[0054] Optionally, obtaining a response curve of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals includes:

[0055] Respectively calculating the ratios of the response signals of the respective motion points corresponding to the multiple excitation signals to the multiple excitation signals;

[0056] The response curves of the motion mechanism at each motion point are obtained by performing Fourier transform on the ratios of the response signals at each motion point corresponding to the multiple excitation signals and the multiple excitation signals.

[0057] In one embodiment, for each excitation signal, the response signal caused by it at each moving point is recorded. The ratio of these response signals to the corresponding excitation signal is calculated. This step is actually to obtain a "transfer function" that reflects how the system converts from input signal to output response. The ratio obtained above is subjected to Fourier transform, which converts the time domain data into frequency domain data. The Fourier transform can parse out the various frequency components in the response signal and show at what frequency the system is most active. The converted results can be plotted into a response curve, showing the reaction intensity (amplitude change) of the system at each moving point for different excitation signal frequencies. The peak in the response curve clearly shows which frequency will cause the maximum vibration, that is, the resonant frequency. This is important information to avoid unwanted resonance phenomena. This embodiment improves the accuracy of performance prediction of the motion mechanism.

[0058] Optionally, before applying a plurality of excitation signals of different frequencies to the motor of the motion mechanism, the method further comprises:

[0059] The preset motion range of the motion mechanism is determined according to at least one of the following parameters of the motion mechanism:

[0060] Maximum rotation angle, maximum speed, acceleration.

[0061] In one embodiment, the maximum rotation angle refers to the maximum angle at which the motion mechanism can operate safely. This can be used to limit the rotation range of rotating equipment (such as robotic arms, rotating platforms, etc.) to prevent operations beyond the design capacity. The maximum speed refers to the highest speed that the motion mechanism can reach when performing a task. If the speed exceeds this limit, instability or reduced accuracy may occur, so the maximum speed provides an operating upper limit. In this embodiment, by controlling the range of motion through these parameters, the motion mechanism can be prevented from entering an unsafe state, avoiding mechanical shock or exceeding the structural bearing capacity, and reducing the risk of failure.

[0062] See also Figure 3 , Figure 3 is a structural diagram of a resonant frequency measurement device provided in one embodiment of the present application. Figure 3 As shown, the resonance frequency measurement device 300 includes:

[0063] A first processing module 301 is used to apply a plurality of excitation signals of different frequencies to the motor of the motion mechanism, wherein the excitation signals are used to excite the motor to drive the mechanical components of the motion mechanism to move within a preset motion range;

[0064] A first monitoring module 302, configured to monitor a response signal of the mechanical component at each motion point within the preset motion range based on each of the multiple excitation signals;

[0065] The first determination module 303 is used to determine the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals.

[0066] Optionally, the first determining module includes:

[0067] A first processing unit, configured to obtain a response curve of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals;

[0068] The first determination unit is used to determine the peak value of the response curve of the motion mechanism at each motion point as the resonant frequency of the motion mechanism at each motion point.

[0069] Optionally, the first processing unit includes:

[0070] A first calculation subunit, configured to respectively calculate the ratio of the response signal of each of the motion points corresponding to the multiple excitation signals to the multiple excitation signals;

[0071] The first processing subunit is used to obtain the response curve of the motion mechanism at each motion point after Fourier transforming the ratio of the response signal of each motion point corresponding to the multiple excitation signals and the multiple excitation signals.

[0072] Optionally, the device further comprises:

[0073] The second determination module is used to determine the preset motion range of the motion mechanism according to at least one of the following parameters of the motion mechanism:

[0074] Maximum rotation angle, maximum speed, acceleration.

[0075] See also Figure 4 , Figure 4 is a structural diagram of an electronic device provided by another embodiment of the present invention, such as Figure 4 As shown, the electronic device includes: a processor 401 , a communication interface 402 , a communication bus 404 and a memory 403 , wherein the processor 401 , the communication interface 402 and the memory 403 interact with each other via the communication bus 404 .

[0076] The memory 403 is used to store computer programs; the processor 401 is used to execute the programs stored in the memory 403. When the computer program is executed by the processor 401, it is used to apply multiple excitation signals of different frequencies to the motor of the motion mechanism, and the excitation signal is used to excite the motor to drive the mechanical components of the motion mechanism to move within a preset range of motion;

[0077] Monitoring a response signal of the mechanical component at each motion point within the preset motion range based on each of the multiple excitation signals;

[0078] Based on the multiple excitation signals and the response signals of the various motion points respectively corresponding to the multiple excitation signals, the resonant frequencies of the motion mechanism at the various motion points are determined.

[0079] Optionally, the processor 401 is specifically configured to:

[0080] Based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals, a response curve of the motion mechanism at each motion point is obtained;

[0081] The peak value of the response curve of the motion mechanism at each motion point is determined as the resonant frequency of the motion mechanism at each motion point.

[0082] Optionally, the processor 401 is specifically configured to:

[0083] Respectively calculating the ratios of the response signals of the respective motion points corresponding to the multiple excitation signals to the multiple excitation signals;

[0084] The response curves of the motion mechanism at each motion point are obtained by performing Fourier transform on the ratios of the response signals at each motion point corresponding to the multiple excitation signals and the multiple excitation signals.

[0085] Optionally, the processor 401 is further configured to:

[0086] The preset motion range of the motion mechanism is determined according to at least one of the following parameters of the motion mechanism:

[0087] Maximum rotation angle, maximum speed, acceleration.

[0088] The communication bus 404 mentioned in the above electronic device can be a peripheral component interconnect (PCT) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus 404 can be divided into an address bus, a data bus, a control bus, etc. For the convenience of identification, only one thick line is used in the figure, but it does not mean that there is only one bus or one data type.

[0089] The communication interface 402 is used for communication between the terminal and other devices.

[0090] The memory 403 may include a random access memory (RAM) or a non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory 403 may also be at least one storage device located away from the processor 401 .

[0091] The above-mentioned processor 401 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0092] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned resonant frequency measurement method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0093] The present application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the above Figure 2 The various processes of the method embodiment shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0094] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0095] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0096] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A resonant frequency measurement system, characterized in that: The resonant frequency measurement system comprises a motion mechanism, a bearing mechanism, a sensor, a cable and a resonant frequency measuring instrument, wherein the motion mechanism comprises a motor and a mechanical component, the motion mechanism is fixed on the bearing mechanism, the sensor is fixed on the motion mechanism, and the sensor is connected to the resonant frequency measuring instrument through the cable; The resonant frequency measuring instrument is used to apply multiple excitation signals of different frequencies to the motor, and the excitation signals are used to excite the motor to drive the mechanical component to move within a preset motion range. The resonant frequency measuring instrument is also used to monitor the response signal of the mechanical component at each motion point within the preset motion range based on each excitation signal of the multiple excitation signals through the sensor, and determine the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the each motion point respectively corresponding to the multiple excitation signals.

2. A method for measuring resonance frequency, characterized in that: The method comprises: Applying a plurality of excitation signals of different frequencies to the motor of the motion mechanism, wherein the excitation signals are used to excite the motor to drive the mechanical components of the motion mechanism to move within a preset motion range; Monitoring a response signal of the mechanical component at each motion point within the preset motion range based on each of the multiple excitation signals; Based on the multiple excitation signals and the response signals of the various motion points respectively corresponding to the multiple excitation signals, the resonant frequencies of the motion mechanism at the various motion points are determined.

3. The resonant frequency measurement method according to claim 2, characterized in that: The determining the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals comprises: Based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals, a response curve of the motion mechanism at each motion point is obtained; The peak value of the response curve of the motion mechanism at each motion point is determined as the resonant frequency of the motion mechanism at each motion point.

4. The resonant frequency measurement method according to claim 3, characterized in that: The step of obtaining a response curve of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the motion points respectively corresponding to the multiple excitation signals includes: Respectively calculating the ratios of the response signals of the respective motion points corresponding to the multiple excitation signals to the multiple excitation signals; The response curves of the motion mechanism at each motion point are obtained by performing Fourier transform on the ratios of the response signals at each motion point corresponding to the multiple excitation signals and the multiple excitation signals.

5. The resonant frequency measurement method according to claim 2, characterized in that: Before applying a plurality of excitation signals of different frequencies to the motor of the motion mechanism, the method further comprises: The preset motion range of the motion mechanism is determined according to at least one of the following parameters of the motion mechanism: Maximum rotation angle, maximum speed, acceleration.

6. A resonant frequency measuring device, characterized in that: The device comprises: A first processing module, used for applying a plurality of excitation signals of different frequencies to the motor of the motion mechanism, wherein the excitation signals are used for exciting the motor to drive the mechanical components of the motion mechanism to move within a preset motion range; A first monitoring module, configured to monitor a response signal of the mechanical component at each motion point within the preset motion range based on each of the multiple excitation signals; The first determination module is used to determine the resonant frequency of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals.

7. The resonant frequency measuring device according to claim 6, characterized in that: The first determining module includes: A first processing unit, configured to obtain a response curve of the motion mechanism at each motion point based on the multiple excitation signals and the response signals of the respective motion points corresponding to the multiple excitation signals; The first determination unit is used to determine the peak value of the response curve of the motion mechanism at each motion point as the resonant frequency of the motion mechanism at each motion point.

8. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the resonance frequency measurement method according to any one of claims 2 to 5 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the resonance frequency measurement method according to any one of claims 2 to 5 are implemented.

10. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the resonance frequency measurement method according to any one of claims 2 to 5.

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